CN106537272A - Self-propelled electronic device - Google Patents
Self-propelled electronic device Download PDFInfo
- Publication number
- CN106537272A CN106537272A CN201580039217.6A CN201580039217A CN106537272A CN 106537272 A CN106537272 A CN 106537272A CN 201580039217 A CN201580039217 A CN 201580039217A CN 106537272 A CN106537272 A CN 106537272A
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- China
- Prior art keywords
- signal
- mentioned
- fence
- sensor
- disk
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
Abstract
A self-propelled electronic device provided with: a power unit for performing a travel by at least forward movement and turning; a fence arrival sensor for detecting entry into a signal arrival range of a fence signal that an external fence signal transmitter outputs with directionality; a control unit that controls the power unit so as to start a turn in response to the entry into the signal arrival range; and a turn sensor used for determining the end of the turn, wherein the control unit performs the control so as to end the turn in response to a signal from the turn sensor.
Description
Technical field
The present invention relates to self-propelled electronic equipment, more particularly, it relates to detect that fence (fence) signal of outside sends
Wireless signal that device sends and independently control the self-propelled electronic equipment walked.
Background technology
Have pointed out the various sides for limiting the self-propelled electronic equipment region moved and constrained in specific place
Case.As one of them, it is proposed that following system, possess：Portable sideband signal transmitter, which sends sideband signal, on
State and there is directive property in the way of along the axle for defining border mainly；And mobile robot, which possesses sideband signal detector,
Said system revolves the direction of mobile robot when the sideband signal detector of mobile robot detects above-mentioned sideband signal
Going to (referring for example to patent document 1) till no longer detect the sideband signal.
Prior art literature
Patent document
Patent document 1：JP 2003-228421 publication
The content of the invention
Problems to be solved by the invention
As the concrete mode of the sideband signal transmitter of patent document 1, following manner can be enumerated：Using battery as electricity
Source, in order to prevent the interference with the infrored equipment such as sunlight or remote control, radiates by the frequency with common infrared ray bit stream
The different frequency of rate further modulate after infrared light beam.
So, in this manual, by order to divide the region of self-propelled electronic equipment movement and provide self-propelled electronics
The information in the path that equipment should be moved is guiding self-propelled electronic equipment, and the wireless signal such as radiant light, electric wave is (below vertically
Also referred to as fence signal) device be referred to as fence sender unit.
Fence sender unit is arranged at the border in the region for being not intended to enter self-propelled electronic equipment, is believed using fence
Take number self-propelled electronic equipment and avoid action.Enclose making self-propelled electronic equipment rotate to no longer detecting as in the past
In way till hurdle signal, self-propelled electronic equipment can advance along the axle of fence signal, it is possible to repeatedly avoid row
It is dynamic.
The present invention allows for above such case and completes, there is provided a kind of self-propelled electronic equipment, and which can be in walking
In detect to fence signal signal reach region enter and disk turn when, suitably control from above-mentioned signal reach region depart from
Direction be disk turn terminate timing and away from above-mentioned signal reach region.
For solution to problem
The present invention provides a kind of self-propelled electronic equipment, it is characterised in that possess：Power part, its carry out at least advance and
The walking that disk turns；Fence reaches sensor, its fence exported with having directive property to the fence sender unit outside entrance
The signal of signal reaches region and is detected；Control unit, its above-mentioned power part of control, so as in response to reaching area to above-mentioned signal
The entrance in domain and make disk turn start；And disk turns sensor, which is used to judge the end that above-mentioned disk turns that above-mentioned control unit to be controlled
System, so as to make the disk turn to terminate in response to turning the signal of sensor from above-mentioned disk.
Invention effect
The self-propelled electronic equipment of the present invention possesses for judging that the disk of end that disk turns turns sensor, and control unit is controlled
System so as to make the disk turn to terminate in response to turning the signal of sensor from disk, therefore can detect in walking to fence signal
Signal reach region entrance and disk turn, and suitably control at this moment from above-mentioned signal reach region depart from direction i.e. disk
Turn the timing of end and region is reached away from above-mentioned signal.
Description of the drawings
Fig. 1 is the block diagram of the schematic configuration of the self-propelled suction cleaner for representing involved in the present invention.
Fig. 2 is the outside drawing of an embodiment of the self-propelled suction cleaner for representing involved in the present invention.(top view)
Fig. 3 is the outside drawing of an embodiment of the self-propelled suction cleaner for representing involved in the present invention.(side view)
Fig. 4 is the outside drawing of an embodiment of the self-propelled suction cleaner for representing involved in the present invention.(front view)
Fig. 5 is the A-A of Fig. 4 to regarding sectional view.
Fig. 6 is the outside drawing of the embodiment for representing different from the self-propelled suction cleaner shown in Fig. 1～Fig. 5.(2 disks turn
Sensor)
Fig. 7 is the outside drawing of the embodiment for representing further different from the self-propelled suction cleaner shown in Fig. 1～Fig. 5.(3
Individual disk turns sensor)
Fig. 8 is the stereoscopic figure of the example for representing the fence sender unit involved by embodiments of the present invention.
Fig. 9 is the block diagram of the electric schematic configuration for representing the fence sender unit involved by embodiments of the present invention.
Figure 10 is schematically shown from the non-directive Department of Radiation involved by the embodiment and directional radiation portion spoke
The signal of the optical signal penetrated reaches the explanatory diagram in region.
When Figure 11 is that the reception of wireless signals portion for representing involved by embodiments of the present invention radiates the optical signal of 1 frame repeatedly
Waveform explanatory diagram.
Figure 12 is to represent that the self-propelled suction cleaner shown in Fig. 1～Fig. 5 enters fashionable into the signal arrival region of fence signal
The explanatory diagram of the situation of control unit control walking.
Figure 13 is to represent self-propelled suction cleaner with control unit during the entry angle entering signal arrival region different from Figure 12
The explanatory diagram of the situation of control walking.
Figure 14 be represent control unit involved in the present invention in response to the signal to fence signal reach region entrance and
The flow chart of the process of control walking.(switching to stop to disk is started)
Figure 15 be represent control unit involved in the present invention in response to the signal to fence signal reach region entrance and
The flow chart of the process of control walking.(disk turns to terminate)
Figure 16 is to represent that self-propelled suction cleaner shown in Fig. 6 enters control unit control when the signal of fence signal reaches region
The explanatory diagram of the situation of walking.
Figure 17 is to represent that self-propelled suction cleaner shown in Fig. 7 enters control unit control when the signal of fence signal reaches region
The explanatory diagram of the situation of walking.
Figure 18 is the outside drawing of the different embodiment for representing the self-propelled suction cleaner shown in Fig. 1～Fig. 5.(left and right 2
Fence signal transducer)
Figure 19 is to represent that self-propelled suction cleaner shown in Figure 18 enters control unit control when the signal of fence signal reaches region
The explanatory diagram of the situation of system walking.
Specific embodiment
Hereinafter, the present invention is described in further detail using accompanying drawing.Additionally, the following description is illustration in terms of whole, should not
It is interpreted as limitation of the invention.
(embodiment 1)
《The concrete mode of self-propelled electronic equipment》
Illustrate " self-propelled suction cleaner " as of self-propelled electronic equipment of the invention.The self-propelled suction cleaner has
It is standby：There is air entry in bottom surface and internally there is the casing of dust collecting part；The driving wheel for making casing walk；Control driving wheel
Control unit of rotation, stopping and direction of rotation etc. etc., refers to the hand for leaving user and independently carries out the dust catcher of dust suction action,
One is illustrated by the embodiment of use accompanying drawing described later.
Additionally, the present invention not only include self-propelled suction cleaner, also including carry out air suction and by after purification air arrange
The self-propelled air purifier for going out, in addition, including the self-propelled ion generator for producing ion, it is in addition, also right including energy
Information needed for user's prompting etc. simultaneously can meet the self-propelled equipment such as the robot of request desired by user.
《The composition of self-propelled suction cleaner》
Fig. 1 is the block diagram of the schematic configuration of an embodiment of the self-propelled suction cleaner for representing involved in the present invention.Such as Fig. 1 institutes
Show, self-propelled suction cleaner involved in the present invention mainly possesses rotating brush 9, side brush 10, control unit 11, rechargeable battery 12, obstacle
Analyte detection portion 14, dust collecting part 15.And, possess power part 21, right driving wheel 22R, left driving wheel 22L, air entry 31, exhaust outlet
32nd, electric blowing machine 115 and ion generating portion 117.In addition, being also equipped with brush motor 119 and reception of wireless signals portion 217.
Self-propelled suction cleaner involved in the present invention is while automatically walk, suction on the ground in the place being set
Air comprising the dust on ground, and the air after dust is removed is discharged, so as to carry out dust suction on the ground.Institute of the present invention
The self-propelled suction cleaner being related to has the function that cradle (not shown) is independently returned at the end of dust suction.
Fig. 2～Fig. 4 is the outside drawing of an embodiment of the self-propelled suction cleaner for representing involved in the present invention.Fig. 2 is to bow
View, Fig. 3 are side views, and Fig. 4 is front view.
In addition, Fig. 5 is the A-A of Fig. 4 to regarding sectional view.
As shown in Fig. 2～Fig. 5, self-propelled suction cleaner 1 has discoidal outward appearance.But, self-propelled electronics of the invention
The outward appearance of equipment is not particularly limited to disc, can be arbitrary shape.
Self-propelled suction cleaner 1 has the base plate 2a of the internal mechanism for carrying dust catcher and is formed with the recessed of storage dust collecting part 15
The top board 2b in portion.The edge of one half part of rear side of base plate 2a is surrounded by rear side plate 2d.It is configured with top board 2b in covering
The cap 3 in the upper opening portion of recess is stated, and cap 3 can either on or off.Base plate 2a, top board 2b and rear side plate 2d are equivalent to case
Body.
The peripheral part of self-propelled suction cleaner 1 and buffering when being overlooked from the peripheral part to the rising wood of cap for annular
Device 2c is covered.Buffer 2c is covered from the top of top board 2b, can moved to a certain degree in the horizontal direction relative to top board 2b
Fixed in the state of position.
Front ultrasonic sensor 14F is configured with the front front of buffer, left ultrasonic wave is configured with left front
Sensor 14L.In addition, being configured with right ultrasonic sensor 14R in right front.
In this embodiment, the latter half from peripheral part to the lower edge of base plate 2a of self-propelled suction cleaner is rear
Side plate 2d, first half are the skirt section 2e with buffer 2c one.It is in the top of rear side plate 2d, substantially neat with rear side plate 2d
Level land is configured with buffer 2c.
The fence in reception of wireless signals portion 217 reaches sensor 217a and projects upward and be configured at the front of buffer 2c
Top.In addition, the disk in reception of wireless signals portion 217 turns sensor 217b and projecting upward and being configured on the rear of buffer 2c
Portion.Reception of wireless signals portion 217 (fence reaches sensor 217a and disk turns sensor 217b) is received from behaviour (not shown)
Make the various wireless signals such as the remote signal of remote control, the induced signal from cradle, fence signal from fence unit
Optical sensor (such as photodiode).In this embodiment, fence reaches institute of the sensor 217a detections from plane
There is the light that direction is transmitted.In addition, disk turns the light that all directions that sensor 217b can be detected from the plane at rear are transmitted.Control
Portion 11 is mounted to the microcomputer and peripheral circuit of circuit substrate, in response to from remote controller, cradle, fence letter
Instruction represented by the various wireless signals of number transmitter etc. and control the walking or other actions of self-propelled suction cleaner 1.
Base plate 2a is formed with makes right driving wheel 22R, left driving wheel 22L and trailing wheel 26 expose from base plate 2a and project downwards
Multiple openings.And, air entry 31 is formed with, is entered depths at which and is configured with rotating brush 9, be configured with the left and right of air entry 31
Side brush 10, the ground detection sensor 18 in front of leading section is configured with are configured with the inspection of revolver ground in front of left driving wheel 22L
Sensor 19L is surveyed, right wheel ground detection sensor 19R is configured with front of right driving wheel 22R.
Self-propelled suction cleaner 1 advances when right driving wheel 22R and left driving wheel 22L are rotated forward to same direction, to matching somebody with somebody
It is equipped with the direction walking of front ultrasonic sensor 14F.In addition, the driving wheel of left and right is retreated when reversely rotating to same direction,
Rotate to mutually opposite direction and turn so as to disk.The position of right driving wheel 22R and left driving wheel 22L as shown in from Fig. 5 can be bright
True, the center that disk turns is substantially uniform with the central point of discoid self-propelled suction cleaner 1.In addition, it is contemplated that right driving wheel 22R
With the rotary shaft of left driving wheel 22L and the skidding of deviation, driving wheel and ground at center of disk etc. and be set to " substantially ".
For example, self-propelled suction cleaner 1 is detected in each sensor of the test section 14 that breaks the barriers and reaches suction area
Periphery situation and in the case of detecting barrier in forward march, make the driving wheel of left and right stop which after slowing down.
Afterwards, make left and right driving wheel to mutually opposite direction rotate and disk transfer change direction.So, self-propelled suction cleaner 1 exists
In whole setting place or whole expected range, avoiding obstacles one side automatically walk.
Here, so-called front refers to the direction of advance (being the top along paper in fig. 2) of self-propelled suction cleaner 1, institute
Meaning rear refers to the direction of retreat (being the lower section along paper in fig. 2) of self-propelled suction cleaner 1.
Hereinafter, illustrate each inscape shown in Fig. 1.
The control unit 11 of Fig. 1 is the part of the action of each inscape for controlling self-propelled suction cleaner 1, main by including
The microcomputer of CPU, ROM, RAM, I/O controller as the nonvolatile memory that can be rewritten, timer etc. is realizing.
CPU makes the organically action of each hardware based on being pre-reserved to above-mentioned ROM and being deployed into the control program of RAM, performs
The dust-absorbing function of the present invention, walking function etc..
Rechargeable battery 12 is the part that each functional imperative to self-propelled suction cleaner 1 supplies electric power, is mainly for being applied to
Carry out the part of the electric power of dust-absorbing function and travelling control.For example, using lithium ion battery, Ni-MH battery, Ni-Cd batteries etc.
Rechargeable battery.Rechargeable battery 12 is configured at the lower section of control unit 11.
Both charging terminals for exposing are made in the state of making self-propelled suction cleaner 1 be close to cradle (not shown) each other
Contact, so as to be charged the charging of battery 12.
Detection of obstacles portion 14, each sensor 14L, 14F, 14R of particularly left, front, right are in self-propelled suction
Bar contact or the close part such as detection and indoor wall, desk, chair in 1 walking process of dirt device.Obstacle quality testing
Being close to barrier is detected using ultrasonic sensor in survey portion 14.Ultrasonic sensor can also be substituted or passed with ultrasonic wave
Sensor together, using the non-contact sensor of the alternate manners such as infrared distance measuring sensor.
Left feeler 14CL and right feeler 14CR in order to detect self-propelled suction cleaner 1 when walking with obstacle
The contact of thing and be configured at the inner side of buffer 2c.CPU is based on from left feeler 14CL and right feeler 14CR
Output signal, know that buffer 2c and barrier there occurs collision and its direction.
Front ground detection sensor 18, revolver ground detection sensor 19L and right wheel ground detection sensor 19R detections
The step of descending stair etc..
The position that CPU is located based on the signal exported from detection of obstacles portion 14, cognitive disorders thing or step.Based on identification
The barrier for going out or the positional information of step, determine the direction avoided the barrier or step and next should walk.Additionally, left
Detection of the wheel ground detection sensor 19L and right wheel ground detection sensor 19R detections positioned at front ground detection sensor 18
The step of the left front or right front of the direct of travel outside scope.Thus, descending stair are detected, self-propelled suction cleaner is prevented
1 falls to descending stair.
Power part 21 is to realize row by making the rotation of the driving wheel of the left and right of self-propelled suction cleaner 1 and the motor for stopping
The part walked.Motor is constituted in the way of the driving wheel that can make left and right independently rotates in forward and reverse direction, so as to realize
The walking states such as the advance of self-propelled suction cleaner 1, retrogressing, disk turn, acceleration and deceleration.
Air entry 31 and exhaust outlet 32 are to carry out the air-breathing of air and the part of exhaust for dust suction respectively.
Dust collecting part 15 is carried out the part of the dust-absorbing function for collecting indoor rubbish or dust, mainly possesses collection (not shown)
Dirt container, filter portion and the cover portion that dust collecting container and filter portion are covered.In addition, with connecting with air entry 31
Flow into road and the discharge path connected with exhaust outlet 32.Electric blowing machine 115 is configured with discharge path.Electric blowing machine 115
Air is sucked from air entry 31, the air is directed in dust collecting container via road is flowed into, generation make the air after dust via
Discharge path is from exhaust outlet 32 to the air-flow of outside release.
The rotating brush 9 for entering depths, being provided with around the axle center rotation parallel with bottom surface in air entry 31, on a left side for air entry 31
Right both sides are provided with the side brush 10 around the axis of rotation rotation with plane perpendicular.Rotating brush 9 is by the roller as rotary shaft
What outer peripheral face spirally planted brush and was formed.Side brush 10 is by being formed with radial setting brush bundle in the lower end of rotary shaft
's.Additionally, the rotary shaft of the rotary shaft of rotating brush 9 and a pair of side brushes 10 is articulated in a part of base plate 2a, and via at which
The brush motor 119 for nearby arranging and the Poewr transmission mechanism link including pulley and band etc..
This composition is only one, it is also possible to which setting makes the special motor that side brush 10 rotates.
In addition, the self-propelled suction cleaner 1 involved by the embodiment possesses the ion generating function as additional function.
Ion generating portion 117 is provided with discharge path.When 117 action of ion generating portion, from exhaust outlet release air-flow contain by from
The ion (can for example be plasmoid ion (registration mark) or anion) that sub- generating unit 117 is generated.Containing the ion
Air discharge from the exhaust outlet 32 of the upper surface for being arranged at self-propelled suction cleaner 1.Room is carried out by the air containing the ion
Interior is degerming and deodorant.In addition, it is also known that in the case of anion, meeting band gives people relaxation effect.Now, air is from exhaust outlet
32 discharge towards rearward oblique upper, therefore can prevent the elevator of the dust on ground, can improve the degree of purification of interior.In addition, also
Dust can be de-energized, can reliably carry out the discarded of the dust after dust.
In addition it is also possible to be oriented to a part for the ion produced by ion generating portion 117 flow into road.So, from suction
Gas port 31 is directed to the air-flow on inflow road and is contained within ion, therefore can carry out the dust collecting container (not shown) that dust collecting part 15 has
It is degerming and deodorant with filter.
More than the specific configuration example of self-propelled suction cleaner 1, and the configuration example of self-propelled air purifier be by Fig. 1～
Self-propelled suction cleaner 1 shown in Fig. 5 with a portion of change.Specifically, substitute rotating brush 9, dust collecting part 15, ion to send out
Life portion 117 and brush motor 119 and there is purification of air portion, the position for arranging air entry 31 is changed to into top from the base plate 2a of casing
Plate 2b, above-mentioned purification of air portion have the filter of purification of air.In addition, the configuration example of self-propelled ion generator is from figure
Except self-propelled suction cleaner 1 shown in 1～Fig. 5 is by rotating brush 9, dust collecting part 15 and brush motor 119, and will air entry 31 be set
Position is changed to top board 2b from the base plate 2a of casing.
In addition, Fig. 6 and Fig. 7 are the outside drawings of the embodiment for representing different from the self-propelled suction cleaner 1 shown in Fig. 2 (bowing
View).Only there is the self-propelled suction cleaner 1 of Fig. 21 disk to turn sensor 217b.And the self-propelled suction cleaner 1 of Fig. 6 is with Fig. 2 not
Together, its disk with rear-center portion turn sensor 217b, but than Pan Zhuan center rearward and the position configuration that keeps left
There is disk to turn sensor 217c, than Pan Zhuan center rearward and the position kept right is configured with disk and turns sensor 217d.Have altogether 2
Individual disk turns sensor.
In addition, there are the self-propelled suction cleaner 1 of Fig. 73 disks to turn sensor 217b, 217c and 217d.At the center at rear
It is configured with disk and turns sensor 217b, is configured with disk and turns sensor 217c in the position than Pan Zhuan center left side rearward, than disk
The position for turning center right side rearward is configured with disk and turns sensor 217d.
《Control based on the wireless signal from fence sender unit》
Reception of wireless signals portion 217 receives from remote controller the instruction from user sent as wireless signal, control
Portion processed 11 controls the action of self-propelled suction cleaner 1 in response to the instruction for receiving.And, reception of wireless signals portion 217 receives
The wireless signal that cradle sends, returns by target of the wireless signal to cradle.
And, fence reaches sensor 217a and receives comprising the present invention from the fence sender unit for being arranged at travel region
The wireless signal (fence signal) of involved control information.One of the function of fence sender unit is fence function.Enclose
Hurdle function is used as sightless wall function.When there is user in self-propelled suction cleaner 1 physically walking region
During the place for being not intended to make self-propelled suction cleaner 1 to enter, fence work(usable fence sender unit is configured at into the place and
The border that formation be can't see.
In this embodiment, the optical signal based on infrared light is used as wireless signal.As the form of signal, can fit
So-called household appliances association form specified with such as household appliances association etc..It is however also possible to not be using light but make
The composition communicated with electric wave or other media, the form of be suitable for signal are also not necessarily limited to above-mentioned household appliances association lattice
Formula.
Additionally, fence sender unit is not only to send stable light but sends the signal with specific form,
This be for ease of distinguishing with the light of ambient light or illumination etc., be suitable for such as household appliances association form be for ease of with its
Remote signal of its equipment etc. is distinguished.
In above-mentioned data form, it is the continuous infrared ray bit stream of multiple bits by 1 frame definition.1 frame includes what is started
The stopping bit of the custom code, numeric data code and end of leading, 32 bits thereafter.Lead code include 3.2 milliseconds conducting and
1.6 milliseconds of cut-off.Custom code is the data of 32 bits, the distribution of 16 bits that for example start be each enterprise it is intrinsic
Value, what ensuing 8 bit distributed are the enterprise sort codes of the parity check bit and 4 bits of 4 bits, last 8 bits distribution
Be the intrinsic value of device type.
Numeric data code is the data of 16 bits, by each device type definition recognized with above-mentioned custom code.For example it is right
Each button distribution numeric data code of remote control, provides specific information in the part.The bit value of custom code or numeric data code is 0
Or 1, do not whether there is to distinguish with ultrared, but with it is ultrared have with have between during length, do not have
Send the length of ultrared period to distinguish.The separation of 1 frame and frame thereafter is by being referred to as frame space (frame
The interregnum of the length of more than 8 milliseconds space) is judging.Infrared ray is not sent during frame space.
The identification code used by the usable signal of the pre-determined fence work(of the manufacturer of self-propelled suction cleaner 1.Control unit
11 when fence reaches sensor 217a and receives the optical signal of the identification code, is identified as believing from the fence of fence unit
Number.Then, control the walking of self-propelled suction cleaner 1 so as to the signal will not be crossed and entered to other side side.Fence work(is usable
Identification code is a mode of control information involved in the present invention.
Fig. 8 is the stereoscopic figure of the example for representing the fence sender unit involved by the embodiment.Such as Fig. 8 institutes
Show that shape of the fence sender unit 231 in approximately parallelepiped body is configured with the power switch for turning off power in upper surface
233rd, represent the sensor of the flag indicator 235 and switching luminous intensity of the state of the on or off and battery 243 of power supply
Distance switching switch 237.And, configure the non-directive Department of Radiation 239a that oriented all directions radiate optical signal.Match somebody with somebody in side
It is equipped with the directional radiation portion 239b to a direction radiation fence signal.Have in the inside of fence sender unit 231 and receive
Receive the battery chamber of signal generating circuit and the battery 243 as power supply, the lid (not shown) of bottom can be opened and taken out, be put into electricity
Pond.
Fig. 9 is the block diagram of the electric schematic configuration of the embodiment for representing fence sender unit 231.As shown in figure 9, this encloses
Hurdle sender unit 231 possesses power switch 233, flag indicator 235, sensor distance switching switch 237 and signal radiation
Portion 239.Signal Department of Radiation 239 has non-directive Department of Radiation 239a and directional radiation portion 239b.Figure 8 illustrates theirs
Outward appearance.And, fence sender unit 231 possesses battery 243, the residual capacity of detection battery 243 being accommodated in battery chamber
Residual capacity of battery test section 241, be previously stored with the storage part 242 of identification code and control the transmitter control unit in each portion
240.The operation of detection power switch 233, the sensor distance switching of transmitter control unit 240 switch 237.In addition, with reference to storage
Above-mentioned identification code that portion 242 is preserved and non-directive Department of Radiation 239a and directional radiation portion 239b is exported comprising right respectively
The optical signal of the identification code answered.
From the optical signal reached near fence sender unit 231 of non-directive Department of Radiation 239a radiation, so that
Self-propelled suction cleaner 1 will not be in contact with it near fence sender unit 231.
On the other hand, it is radiated from directional radiation portion 239b to side up to the strong optical signal (fence of the directive property in a distant place
Signal).Fence signal from directional radiation portion 239b radiation is not with the optical signal from non-directive Department of Radiation 239a
Same identification code.The control unit 11 of self-propelled suction cleaner 1 can be in the way of making to avoid according to both identification code control and be different
It is controlled.That is, cross in fence arrival sensor 217a this is received from the fence signal of directional radiation portion 239b
During fence signal, carry out control involved in the present invention, but reach sensor 217a in fence receiving from non-directive spoke
When penetrating the optical signal of portion 239a, for example, it is controlled in the way of disk turnback.Can be by sensor distance switching switch 237
From the fence signal of directional radiation portion 239b radiation, accessibility distance is 2 meters or 4 meters in the direction of the optical axis for selection.Enclosing
The arrival distance of hurdle signal is less than 2 meters just in the case of enough purposes, as long as selecting life-span longer 2 meters of battery 243
One side.
Flag indicator 235 is LED, extinguishes, connect in power switch 233 in the state of power switch 233 is turned off
In the state of light.Lighted with green during the residual capacity abundance of battery 243, reduce in residual capacity and be close to and change
Lighted with redness during period.
In this embodiment, the signal generating circuit for being built in fence sender unit 231 sends and is set to for fence
The optical signal of the intrinsic information of identification code of the identification code and fence sender unit 231 of function.
Figure 10 is to schematically show from non-directive Department of Radiation 239a and directional radiation portion 239b the optical signal for radiating
The explanatory diagram in region can be reached by the signal that the reception of wireless signals portion 217 of 1 side of self-propelled suction cleaner receives.In Fig. 10,
The 3rd signal reached from the optical signal of non-directive Department of Radiation 239a reaches the region that region 245c is round shape, from finger
It is big that the 2nd signal reached by the fence signal of tropism Department of Radiation 239b reaches region 245b and the 1st signal arrival region 245a
Cause elliptoid region.By sensor distance switch switch 237 be set as 2 meters reach apart from when corresponding to using in Figure 10
The 2nd signal that double dot dash line is represented reaches region 245b, be set as 4 meters reach apart from when corresponding to Figure 10 in use solid line table
The 1st signal for showing reaches region 245a.Arrow B represents the optical axis direction of the fence signal from directional radiation portion 239b radiation.
Figure 11 is to represent that signal Department of Radiation 239 radiates the explanatory diagram of the waveform of the optical signal of 1 frame repeatedly.Signal follows household electrical appliances
Product association form.The frame space for interrupting more than 8 milliseconds by the radiation of optical signal between frame and frame separates.In fig. 11, will
From radiation 1 frame optical signal to the optical signal across frame space radiation next frame during be set to the frame period.
When self-propelled suction cleaner 1 advances in the direction of arrow A, fence reaches being partially into from fence for sensor 217a to be believed
The signal of the fence signal of number transmitter 231 radiation reaches region, and when receiving fence and reaching sensor 217a, control unit 11
The information of the signal institute band that parsing is received.The signal that identification code is identified as fence unit is namely be based on, and then recognizes it is from which
The signal of individual fence sender unit 231.Then, the walking for controlling self-propelled suction cleaner 1 make which not cross the signal and to
Other side side enters.
《Region is reached to the signal of fence signal and enters fashionable control》
Then, describe self-propelled suction cleaner 1 and enter fashionable travelling control to the signal arrival region of fence signal.
Figure 12 is to represent that self-propelled suction cleaner 1 enters the control walking of control unit 11 when the signal of fence signal reaches region
The explanatory diagram of situation.Figure 13 is the explanation for representing situation when region is reached with the entry angle entering signal different from Figure 12
Figure.Figure 14 and Figure 15 are the flow processs of of the process for representing that control unit 11 is performed in response to the entrance in region is reached to signal
Figure.
With reference to Figure 12 and Figure 13 and along the flow chart explanation travelling control of Figure 14 and Figure 15.In self-propelled suction cleaner 1
One side avoiding obstacles are while walk and during carrying out operation (the step of Figure 14 S11), control unit 11 gradually monitors that fence is arrived
Whether fence signal (step S13) from fence sender unit 231 is detected up to sensor 217a.If fence reaches sensing
Device 217a detects fence signal ("Yes" of step S13), then control unit 11 continues to signal to reach during pre-determined
(with reference to Figure 12 (a) and Figure 13 (a)) is entered in region, checks whether during this period to detect fence signal (step S15) in succession.
Reason for this is that, it is contemplated that near the border that fence signal reaches region, the detection of fence signal dies down and unstable
Situation, and enable 1 entrance of self-propelled suction cleaner to carry out the position of stable detection reliably to be detected.And, this is
In order that self-propelled suction cleaner 1 in advance to signal reach region enter to disk afterwards turn mid-game turn sensor can carry out it is stable
Fence signal detection position till.
If detecting fence signal during pre-determined in succession, control unit 11 makes self-propelled suction cleaner stop (step
Rapid S17), afterwards, self-propelled suction cleaner 1 is turned (with reference to step S19, Figure 12 (b) and Figure 13 to pre-determined steering wheel
(b)).As shown in Figure 12 and Figure 13, the center that disk turns is substantially uniform with the center of discoidal self-propelled suction cleaner 1.
In disk turns (step S21), gradually monitor turns whether sensor 217b detects fence signal (step to control unit 11
Rapid S23).
If disk turns sensor 217b as disk transfers to reach region into the signal of fence signal and detect fence signal
("Yes" in step S23), then control unit 11 wait during pre-determined and detect in succession fence signal (step S25).
If turning sensor 217b by the disk during pre-determined detects fence signal so as to be judged as having obtained stable fence
Signal detection (with reference to Figure 12 (c) and Figure 13 (c)), then control unit 11 make self-propelled suction cleaner 1 disk turn stop (step
S27).In addition it is also possible to during predetermining above-mentioned step S25 in mode corresponding with above-mentioned steps S15.
Fence reaches sensor 217a and disk turns sensor 217b and is configured at relative to the substantially symmetric position in the center of disk turn
Put.Thus, disk turn sensor 217b detect fence signal and control unit 11 to make the direction that disk turns to stop be relative to entrance side
To (direction being indicated by the arrow C in Figure 12 and Figure 13) into the direction (arrow D) of the angle for being close to 180 °.
Afterwards, 11 avoiding obstacles of control unit are while making self-propelled suction cleaner 1 walk and continuing operation (with reference to step
S29, Figure 12 (d) and Figure 13 (d)).
As it appears from the above, 1 disk of self-propelled suction cleaner is gone to relative to approach axis (Figure 12 and Figure 13 that region is reached to signal
Shown arrow C directions) become the direction for being close to 180 °, then region is reached from signal depart from the (arrow shown in Figure 12 and Figure 13
Head D is off-direction).Off-direction is the direction substantially opposite with approach axis, therefore is avoided that and makes off-direction along enclosing
The axial direction of hurdle signal.
(embodiment 2)
If different from during S25 during the step of making the flow chart shown in Figure 14 and Figure 15 S15, disengaging side can be made
To will not be with approach axis antithesis.Or the configuration that fence arrival sensor 217a and disk turn sensor 217b is set to relatively
In Pan Zhuan centers be asymmetrical position, so as to make the off-direction will not be with approach axis antithesis.It is so-called to be not set to symmetrically
Position, refer to, or from through disk
The position configuration disk for turning to deviate on the straight line at center turns sensor so as to which will not reach sensor 217a with fence becomes line pair
Claim.
(embodiment 3)
In embodiment 1, when disk turns to turn to stop by disk when sensor 217b detects fence signal.But it is also possible to
By using other devices of the change in the direction of detection self-propelled suction cleaner 1, self-propelled suction cleaner 1 is made relative to approach axis
Turned with substantially 180 ° of disks.
The change in the direction of self-propelled suction cleaner 1 for example can be detected with gyro sensor, realizes that disk turns the work(of sensor
Energy.
(embodiment 4)
Or can also be that left driving wheel 22L and right driving wheel 22R possess with the rotation of each driving wheel respectively and export
The encoder of pulse signal, with the change in the direction of the signal detection self-propelled suction cleaner 1 of the encoder.
(embodiment 5)
The embodiment describes the travelling control of the self-propelled suction cleaner 1 shown in Fig. 6.Self-propelled suction cleaner 1 shown in Fig. 6
It is the mode for turning sensor with 2 disks.That is, it is that the disk at left rear side turns sensor 217c and the disk at right rear side turns sensor
217d.Make 1 disk of self-propelled suction cleaner go to 2 disks to turn till sensor 217c and 217d detect fence signal, so as to
Which is made to depart to the direction axially close to right angle relative to fence signal.
Figure 16 is control unit 11 when representing that the signal for entering fence signal in the self-propelled suction cleaner shown in Fig. 6 reaches region
The explanatory diagram of the situation of control walking.Figure 16 (a) represents self-propelled suction cleaner 1 to enter with Figure 13 (a) identicals entry angle
Signal reaches the situation in region.Figure 16 (b) represents that control unit 11 reaches sensor 217a in response to fence and detects fence signal
And make 1 inverse time of self-propelled suction cleaner dials turn situation, be same with Figure 13 (b).
In disk turns, gradually monitor turns sensor 217c and 217d to control unit 11, waits both to detect fence signal.
For example in Figure 16 (b), disk turns sensor 217d and is about to entering signal arrival region, but disk turns sensor 217c and still arrives in signal
Up to outside region.Even if only disk turns sensor 217d and detects fence signal, control unit 11 will not also make disk turn to terminate.
Soon, as shown in Figure 16 (c), disk turns the equal entering signal of sensor 217c and 217d and reaches region.Then, if stable
Detect fence signal, then control unit 11 make disk turn stop.Afterwards, as shown in Figure 16 (d), region is reached from signal and departed from.
Off-direction (arrow D) is relative to the fence signal being indicated by the arrow B axially close to right angle.Thus, self-propelled dust suction can be made
Device 1 turns to the direction walking that region is reliably reached away from signal by 1 disk.
(embodiment 6)
The embodiment describes the travelling control of the self-propelled suction cleaner 1 shown in Fig. 7.Self-propelled suction cleaner 1 shown in Fig. 7
Turn sensor 217b with the disk that 3 disks turn sensor, i.e. rear-center at rear, the disk at left rear side turns sensor 217c and
The disk at right rear side turns sensor 217d.Make 1 disk of self-propelled suction cleaner go to 3 disks and turn the multiple or all inspections in sensor
Till measuring fence signal, so as to more reliably detect fence signal, disk can be terminated by preferred direction and be turned.
Figure 17 is to represent that self-propelled suction cleaner shown in Fig. 7 enters control unit control when the signal of fence signal reaches region
The explanatory diagram of the situation of walking.Figure 17 (a) represent self-propelled suction cleaner 1 with Figure 13 (a) identical entry angle entering signals
Reach the situation in region.Figure 17 (b) represents that control unit 11 detects fence signal in response to fence arrival sensor 217a and makes
The situation that 1 inverse time of self-propelled suction cleaner dials turns.
In disk turns, gradually monitor turns sensor 217b, 217c and 217d to control unit 11, waits multiple disks to turn sensor
Detect fence signal.For example in Figure 17 (b), disk turns sensor 217d and is about to entering signal arrival region, but other disks turn
Sensor 217b and 217c are still outside signal reaches region.Even if only disk turns sensor 217d and detects fence signal, control
Portion 11 will not also make disk turn to terminate.
Soon, as shown in Figure 17 (c), disk turns sensor 217d and 217b entering signal and reaches region, if being turned by 2 disks
Detect fence signal, then control unit 11 makes disk turn to stop sensor stabilization.Then, make self-propelled suction cleaner 1 from signal to
Depart from (arrow D1) up to region.
But, such as in the case of away from fence sender unit 231, fence weak output signal, sometimes disk turn sensor
217d or 217b cannot stably detect fence signal.In this case, control unit makes disk turn to continue.Soon, such as Figure 17
D, shown in (), disk turns sensor 217c and reaches region also into signal.If disk turns wantonly 2 in sensor 217b, 217d and 217c
Detect fence signal, then control unit 11 makes disk turn to stop sensor stabilization.Then, make self-propelled suction cleaner 1 from signal to
Depart from (arrow D2) up to region
So, turn sensor by configuring multiple disks, can more reliably detect fence signal and take off self-propelled suction cleaner 1
From.
Additionally, Figure 17 represents 2 turned in sensor when 3 disks detects that fence signal then terminates the mode that disk turns,
But can also be set to detect that fence signal just makes disk turn to terminate when wantonly 1 disk turns sensor.In addition, disk turns the quantity of sensor
Can also be 2, can also be more than 4.As long as suitably determining several to detect fence when what these disks turned in sensor
Signal just makes disk turn to terminate.
(embodiment 7)
In this embodiment, be described in the left and right directions orthogonal with direction of advance diverse location possess respectively detection enclose
2 sensors of hurdle signal so as in a side as fence reach sensor function, make the opposing party turn sensor as disk
The mode of function.
Figure 18 is the outside drawing of of the mode for representing the self-propelled suction cleaner involved by the embodiment.Such as Figure 18 institutes
Show, self-propelled suction cleaner 1 possesses fence signal transducer 219L and 219R respectively at the both ends of left and right.
In one side avoiding obstacles while walking during, control unit 11 gradually monitor fence signal transducer 219L with
219R。
Figure 19 is to represent that self-propelled suction cleaner 1 shown in Figure 18 enters control unit control when the signal of fence signal reaches region
The explanatory diagram of the situation of system walking.Figure 19 (a) represents that fence signal transducer 219L has reached the signal of fence signal and reached area
Domain.Control unit 11 detects fence signal in response to fence signal transducer 219L and starts timer.Or can also be,
Left driving wheel 22L and right driving wheel 22R possess the encoder of the rotation with each driving wheel and output pulse signal, replace above-mentioned
Timer and the signal of the encoder is counted.The count value of encoder is proportional to travel distance.
Figure 19 (b) represents that fence signal transducer 219R has reached the signal of fence signal and reached region.11 sound of control unit
Fence signal should be detected in fence signal transducer 219R and stop timer.In replacement timer to code device signal
When being counted, the counting of code device signal is stopped.Then, count value based on timer or code device signal and enclose
The distance between hurdle signal transducer 219L and 219R calculates entry angle.Additionally, in the case of timer, it is contemplated that walking
Speed and the count value of time is scaled into travel distance.In the case of code device signal, it is contemplated that the walking of every 1 pulse away from
From and be scaled travel distance.Entry angle can be according to the distance between fence signal transducer 219L and 219R and to fixed
When device or code device signal counted during the distance advanced and pass through geometric calculating and obtain, this is apparent
's.
Control unit 11 is determined to towards off-direction based on the entry angle for calculating and pre-determined off-direction
The angle for turning should be coiled.Off-direction can be set to for example orthogonal with the axial direction of fence signal (arrow B) direction (with reference to Figure 19
(c) and (d)).Or angle of the axial direction relative to fence signal for normal reflection can also be set to.And, approach axis with
In the case that axially (arrow B) angulation is less than pre-determined threshold value (such as 30 °), it is also possible to be set to by the threshold value
Angle departs from.
Then, till control unit 11 makes self-propelled suction cleaner disk go to the angle that the disk for becoming determined turns.Thus, from rear
Side detects that the fence signal transducer 219R of fence signal reaches sensor function as fence.Another fence signal is passed
Sensor 219L is used to determine the angle that disk turns.In other words, be for determine disk turn end, therefore as disk turn sensor send out
Wave function.The angle that disk turns both can be monitored by above-mentioned encoder, it is also possible to transferred by fixed with certain disk rotating speed scale
When device calculate disk turn the time.
According to which, the entry angle for reaching region can be calculated to signal using the detection of 2 fence signals, obtain to
The disk gyration of pre-determined off-direction.Thus, enter fashionable with any entry angle, can be to pre-determined disengaging side
To disengaging.That is, self-propelled suction cleaner 1 can be made to turn to the direction walking that region is reliably reached away from signal by 1 disk.
Additionally, fence signal transducer 219L and 219R can not also be on the straight lines of left and right directions.By carry out
It is corresponding with the deviation of the position from straight line to correct, same function can be realized.
(embodiment 8)
In the above embodiment, describe the control unit 11 when the signal into fence signal reaches region to control certainly
Walk the various modes that formula dust catcher 1 changes direction of travel.
Additionally, as described in embodiment 1, self-propelled suction cleaner 1 possesses front ultrasonic sensor 14F, left
Ultrasonic sensor 14L, right ultrasonic sensor 14R, are kept away based on the detection by the barrier that these sensors are carried out
Open barrier walking.
If fence signal to be also contemplated for into the barrier that can't see, can be considered for fence signal is similarly carried out
Detection with the barrier carried out by ultrasonic sensor and avoid corresponding process.In this case, most preferably make
The detection of the fence signal carried out by fence signal transducer is right with the detection of the barrier carried out by ultrasonic sensor
Should.That is, preferably with front ultrasonic sensor 14F, left ultrasonic sensor 14L, ultrasonic sensor 14R is right respectively for right
Answer and fence signal transducer is configured in front, left front and right front.So, in configuration corresponding with each ultrasonic sensor
In the case that fence signal transducer detects fence signal, can be by detecting barrier with corresponding ultrasonic sensor
The same process of situation reaches region walking come the signal for avoiding fence signal.
As into fence signal signal reach region when walking process, can using with carried out by obstacle sensor
The common walking avoided of barrier process, therefore compared with the situation of other process is carried out, can simplify control portion place
The involved exploitation of reason and checking.
In addition, the self-propelled suction cleaner 1 shown in Fig. 1～Fig. 5 possesses front ground detection sensor 18, revolver ground detection
Sensor 19L, right wheel ground detection sensor 19R, avoid step based on the detection by the step that these sensors are carried out
Walking.
Accordingly it is also possible to be set to by the process same with step walking is avoided avoid fence signal.In this case,
It is preferred that with front ground detection sensor 18, revolver ground detection sensor 19L, ground detection sensor 19R is right respectively for right wheel
Answer and fence signal transducer is configured in front, left front and right front.So, in configuration corresponding with each ground detection sensor
Fence signal transducer detect fence signal in the case of, can be by detecting step with corresponding ground detection sensor
Situation it is same process come avoid fence signal signal reach region walking.
As into fence signal signal reach region when walking process, can using with entered by ground detection sensor
The common walking of avoiding of capable step is processed, therefore compared with the situation of other process is carried out, the place in energy simplify control portion
The involved exploitation of reason and checking.
As described above,
I the self-propelled electronic equipment of () present invention is characterised by possessing：Power part, which carries out at least advancing and disk turns
Walking；Fence reaches sensor, its fence signal exported with having directive property to the fence sender unit outside entrance
Signal reach region detected；Control unit, its above-mentioned power part of control, so as in response to reaching region to above-mentioned signal
Into and make disk turn start；And disk turns sensor, which is used to judge the end that above-mentioned disk turns that above-mentioned control unit to be controlled,
So as to make the disk turn to terminate in response to turning the signal of sensor from above-mentioned disk.
In the present invention, self-propelled electronic equipment is independently moved to carry out operation.Its concrete mode is except in reality
Beyond the self-propelled suction cleaner illustrated in applying mode, can also enumerate for example self-propelled Floor wiper machine, self-propelled air purifier,
Self-propelled ion generator etc..
In addition, the representational mode of walking is the walking by wheel, but not limited to this, or tool are tracked
Mode floats and mobile mode from ground.
Fence signal is to limit the region of self-propelled electronic equipment movement and being constrained in specific place and edge
Axially there is the wireless signal of directive property ground output.As signal, in addition to the infrared signal for describing in embodiments,
Can also be using optical, electromagnetic ripple, ultrasonic wave etc..It is the biography for detecting above-mentioned fence signal that fence arrival sensor and disk turn sensor
Sensor.
And, disk turns to be centered on certain point to change nyctitropic action.But, which is included due to skidding etc. and in causing
The situation that the heart is vibrated with action is rotated in the disk of interior broad sense to be made.
Further illustrate the preferred embodiment of the present invention.
(ii) can also be that above-mentioned fence reaches the center side configuration on the front that sensor ratio disk turns, above-mentioned disk turns
Side configures and detects above-mentioned fence signal rearward for the center that sensor ratio disk turns, and above-mentioned control unit turns in response to above-mentioned disk
Sensor is rotated into by disk and reach region into above-mentioned signal and detect above-mentioned fence signal, and makes above-mentioned disk turn to terminate.
So, to turn sensor than the Pan Zhuan center disk that side configures rearward into the signal arrival region of fence signal it is
Trigger and make disk turn to terminate, accordingly, it is capable to make self-propelled electronic equipment be directed away from the shape that above-mentioned signal reaches the direction in region
Terminate disk to turn under state.
(iii) can also be that above-mentioned disk turns sensor includes being respectively arranged at multiple sensors of different positions, above-mentioned
Control unit reaches region into above-mentioned signal in response to the plurality of sensor and detects above-mentioned fence signal, and turns above-mentioned disk
Terminate.
So, reach region with multiple sensor entering signals makes disk turn to terminate as triggering, therefore, and using 1 disk
The situation for turning sensor is compared, and self-propelled electronic equipment can be made more accurately to be directed away from the direction that above-mentioned signal reaches region.
(iv) can also be possess on the straight line of the left and right directions for being configured in orthogonal with direction of advance and detect respectively
2 fence signal transducers of above-mentioned fence signal, above-mentioned control unit make to be introduced into above-mentioned signal arrival region and detect
The fence signal transducer for stating fence signal turns sensor function as above-mentioned disk, enters above-mentioned signal and reach region after making
And detect that the fence signal transducer of above-mentioned fence signal reaches sensor function as above-mentioned fence and turns on disk
Begin, sensor is turned based on above-mentioned disk and above-mentioned fence reaches time difference and the here that sensor detects above-mentioned fence signal respectively
The speed of travel of period, determines that disk turns the timing for terminating.
So, the time of fence signal can be detected based on 2 sensors being configured on the straight line of left and right directions
Difference calculates the entry angle of the axial direction that region is reached relative to signal, determines disk gyration so that self-propelled electronic equipment direction
Pre-determined off-direction.
V () can also be, above-mentioned disk turns the change in the direction that sensor detection turns with disk, and above-mentioned control unit is in response to upper
State fence sensor to be reached into above-mentioned signal arrival region and detect above-mentioned fence signal, and make disk turn to start, in response to
The disk turns the change in caused direction and has reached pre-determined scope, and makes above-mentioned disk turn to terminate.
So, the sensing of the change in the direction for being turned by using 1 sensor and the adjoint disk of detection of detection fence signal
Device, can make self-propelled electronic equipment terminate disk in the state of the direction in above-mentioned signal arrival region is directed away from and turn.
(vi) it can also be gyro sensor that above-mentioned disk turns sensor.
(vii) can also be that above-mentioned power part includes the driving wheel of left and right, and it is each driving of output that above-mentioned disk turns sensor
The encoder of the rotating signal of wheel.
(viii) can also be that the self-propelled electronic equipment of the present invention possesses：The barrier of the barrier on detection walking road
Hinder the anti-free fall sensor of the step on sensor or detection ground；The fence signal transducer of detection fence signal；And control
The control unit of system walking, above-mentioned control unit control above-mentioned power part so as to the obstacle in response to carrying out by above-mentioned obstacle sensor
The detection of thing is avoiding the barrier, or controls above-mentioned power part so as in response to carrying out by above-mentioned anti-free fall sensor
The detection of step when above-mentioned fence signal transducer detects above-mentioned fence signal, is carried out and by upper avoiding the step
The step avoiding or carried out by above-mentioned anti-free fall sensor for stating the barrier that obstacle sensor is carried out avoids same
Control.
So, as into fence signal signal reach region when walking process, can using with by obstacle sensing
The process of the avoiding obstacles that device is carried out is avoided at the common walking of process of step by what anti-free fall sensor was carried out
Reason, therefore, the exploitation and checking compared with the situation of other process is carried out, involved by the process in energy simplify control portion.
Side obtained from also including in a preferred embodiment of the present invention combining the arbitrary mode in above-mentioned multiple modes
Formula.
In addition to above-mentioned embodiment, there can also be various modifications example with regard to the present invention.These variations are interpreted as category
In the scope of the present invention.The all deformations in the implication and above range that are equal to claim should be included in the present invention.
Description of reference numerals
1：Self-propelled suction cleaner；2a：Base plate；2c：Buffer；2d：Rear side plate；2e：Skirt section；3：Cap；9：Rotating brush；
10：Side brush；11：Control unit；12：Rechargeable battery；14：Detection of obstacles portion；14CL：Left feeler；14CR：Right contact is passed
Sensor；14F：Front ultrasonic sensor；14L：Left ultrasonic sensor；14R：Right ultrasonic sensor；15：Dust
Portion；18：Front ground detection sensor；19L：Revolver ground detection sensor；19R：Right wheel ground detection sensor；21：It is dynamic
Power portion；22L：Left driving wheel；22R：Right driving wheel；31：Air entry；32：Exhaust outlet；115：Electric blowing machine；117：Ion is sent out
Life portion；119：Brush motor；217：Reception of wireless signals portion；217a：Fence reaches sensor；217b、217c、217d：Disk turns to pass
Sensor；219L、219R：Fence signal transducer；231：Fence sender unit；233：Power switch；235：Flag indicator；
237：Sensor distance switching switch；239：Signal Department of Radiation；239a：Non-directive Department of Radiation；239b：Directional radiation portion；
240：Transmitter control unit；241：Residual capacity of battery test section；242：Storage part；243：Battery；245a：1st signal reaches area
Domain；245b：2nd signal reaches region；245c：3rd signal reaches region.
Claims (7)
1. a kind of self-propelled electronic equipment, it is characterised in that possess：
Power part, which carries out the walking at least advanced and disk turns；
Fence reaches sensor, the letter of its fence signal exported with having directive property to the fence sender unit outside entrance
Number reach region detected；
Control unit, its above-mentioned power part of control, so as to make disk turn to start in response to the entrance in region is reached to above-mentioned signal；With
And
Disk turns sensor, and which is used to judge the end that above-mentioned disk turns,
Above-mentioned control unit is controlled, so as to make the disk turn to terminate in response to turning the signal of sensor from above-mentioned disk.
2. self-propelled electronic equipment according to claim 1,
Above-mentioned fence reaches the center side configuration on the front that sensor ratio disk turns,
Above-mentioned disk turn center that sensor ratio disk turns rearward side configuration and detect above-mentioned fence signal,
Above-mentioned control unit is turned sensor in response to above-mentioned disk and is rotated into into above-mentioned signal arrival region by disk and detect above-mentioned enclosing
Hurdle signal, and make above-mentioned disk turn to terminate.
3. self-propelled electronic equipment according to claim 2,
Above-mentioned disk turns sensor includes being respectively arranged at multiple sensors of different positions,
Above-mentioned control unit reaches region into above-mentioned signal in response to the plurality of sensor and detects above-mentioned fence signal, and makes
Above-mentioned disk turns to terminate.
4. self-propelled electronic equipment according to claim 1,
Possess the different position that is configured in the left and right directions orthogonal from direction of advance and detect 2 of above-mentioned fence signal respectively
Fence signal transducer,
Above-mentioned control unit makes the fence signal transducer for reaching region into above-mentioned signal turn sensor as above-mentioned disk and plays work(
Can, the fence signal transducer that above-mentioned signal arrival region is entered after making reaches sensor function as above-mentioned fence and makes
Disk turns to start, and turns the distance of sensor and above-mentioned fence arrival sensor based on above-mentioned disk and detects above-mentioned fence signal
Time difference, determine that disk turns the timing for terminating.
5. self-propelled electronic equipment according to claim 1,
Above-mentioned disk turns the change in the direction that sensor detection turns with disk,
Above-mentioned control unit reaches sensor in response to above-mentioned fence and reaches region into above-mentioned signal and detect above-mentioned fence letter
Number, and making disk turn to start, the change for turning caused direction in response to the disk has reached pre-determined scope, and turns above-mentioned disk
Terminate.
6. self-propelled electronic equipment according to claim 5,
It is gyro sensor that above-mentioned disk turns sensor.
7. self-propelled electronic equipment according to claim 5,
Above-mentioned power part includes the driving wheel of left and right,
Above-mentioned disk turns the encoder that sensor is the rotating signal for exporting each driving wheel.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2014-156365 | 2014-07-31 | ||
| JP2014156365A JP6378962B2 (en) | 2014-07-31 | 2014-07-31 | Self-propelled electronic device |
| PCT/JP2015/060856 WO2016017212A1 (en) | 2014-07-31 | 2015-04-07 | Self-propelled electronic device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106537272A true CN106537272A (en) | 2017-03-22 |
| CN106537272B CN106537272B (en) | 2019-04-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201580039217.6A Expired - Fee Related CN106537272B (en) | 2014-07-31 | 2015-04-07 | Self-propelled electronic equipment |
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| Country | Link |
|---|---|
| JP (1) | JP6378962B2 (en) |
| CN (1) | CN106537272B (en) |
| WO (1) | WO2016017212A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US9868211B2 (en) | 2015-04-09 | 2018-01-16 | Irobot Corporation | Restricting movement of a mobile robot |
| JP2022511780A (en) * | 2018-11-28 | 2022-02-01 | シャークニンジャ オペレーティング エルエルシー | Optical Beacon for Autonomous Devices and Autonomous Devices configured to Use Optical Beacons |
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| CN1866046A (en) * | 2005-05-18 | 2006-11-22 | 洋通工业股份有限公司 | Virtual wall system of self-walking apparatus |
| CN101863029A (en) * | 2009-04-16 | 2010-10-20 | 燕成祥 | Edge-along moving device |
| CN102759924A (en) * | 2011-04-28 | 2012-10-31 | 苏州宝时得电动工具有限公司 | Automatic work system, automatic walking equipment and steering method of automatic walking equipment |
| CN103251354A (en) * | 2012-02-16 | 2013-08-21 | 恩斯迈电子(深圳)有限公司 | Control method of sweeping robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106537272B (en) | 2019-04-16 |
| JP2016033746A (en) | 2016-03-10 |
| WO2016017212A1 (en) | 2016-02-04 |
| JP6378962B2 (en) | 2018-08-22 |
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